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<pre><span class="sourceLineNo">001</span>package edu.wpi.first.wpilibj.templates;<a name="line.1"></a>
<span class="sourceLineNo">002</span><a name="line.2"></a>
<span class="sourceLineNo">003</span><a name="line.3"></a>
<span class="sourceLineNo">004</span>import edu.wpi.first.wpilibj.Compressor;<a name="line.4"></a>
<span class="sourceLineNo">005</span>import edu.wpi.first.wpilibj.Dashboard;<a name="line.5"></a>
<span class="sourceLineNo">006</span>import edu.wpi.first.wpilibj.DriverStation;<a name="line.6"></a>
<span class="sourceLineNo">007</span>import edu.wpi.first.wpilibj.Joystick;<a name="line.7"></a>
<span class="sourceLineNo">008</span>import edu.wpi.first.wpilibj.Relay;<a name="line.8"></a>
<span class="sourceLineNo">009</span>import edu.wpi.first.wpilibj.SimpleRobot;<a name="line.9"></a>
<span class="sourceLineNo">010</span>import edu.wpi.first.wpilibj.Skeleton;<a name="line.10"></a>
<span class="sourceLineNo">011</span>import edu.wpi.first.wpilibj.Timer;<a name="line.11"></a>
<span class="sourceLineNo">012</span>import edu.wpi.first.wpilibj.camera.AxisCamera;<a name="line.12"></a>
<span class="sourceLineNo">013</span>import edu.wpi.first.wpilibj.image.CriteriaCollection;<a name="line.13"></a>
<span class="sourceLineNo">014</span><a name="line.14"></a>
<span class="sourceLineNo">015</span><a name="line.15"></a>
<span class="sourceLineNo">016</span>public class RobotTemplate extends SimpleRobot <a name="line.16"></a>
<span class="sourceLineNo">017</span>{<a name="line.17"></a>
<span class="sourceLineNo">018</span>    <a name="line.18"></a>
<span class="sourceLineNo">019</span>    //pwm ids for drive motor control<a name="line.19"></a>
<span class="sourceLineNo">020</span>    private int fL = 4; //pwm id for front left motor<a name="line.20"></a>
<span class="sourceLineNo">021</span>    private int fR = 3; //pwm id for front right motor<a name="line.21"></a>
<span class="sourceLineNo">022</span>    private int rL = 2; //pwm id for rear left motor<a name="line.22"></a>
<span class="sourceLineNo">023</span>    private int rR = 1; //pwm id for rear right motor<a name="line.23"></a>
<span class="sourceLineNo">024</span>    private int shooterPort = 5; //pwm id for the shooter<a name="line.24"></a>
<span class="sourceLineNo">025</span>    private int launcher = 1; //launcher port id <a name="line.25"></a>
<span class="sourceLineNo">026</span>    private int compressorPort = 2;<a name="line.26"></a>
<span class="sourceLineNo">027</span>    private int spikePort = 1;<a name="line.27"></a>
<span class="sourceLineNo">028</span>    <a name="line.28"></a>
<span class="sourceLineNo">029</span>    //Control declaration<a name="line.29"></a>
<span class="sourceLineNo">030</span>    private Joystick leftJoystick;<a name="line.30"></a>
<span class="sourceLineNo">031</span>    private Joystick rightJoystick;<a name="line.31"></a>
<span class="sourceLineNo">032</span>    private Joystick gamePad;<a name="line.32"></a>
<span class="sourceLineNo">033</span>    <a name="line.33"></a>
<span class="sourceLineNo">034</span>    //Camera declarations<a name="line.34"></a>
<span class="sourceLineNo">035</span>    private AxisCamera camera; <a name="line.35"></a>
<span class="sourceLineNo">036</span>    private CriteriaCollection collection;      //criteria for analyzing image<a name="line.36"></a>
<span class="sourceLineNo">037</span>    <a name="line.37"></a>
<span class="sourceLineNo">038</span>    RobotDrive drive; <a name="line.38"></a>
<span class="sourceLineNo">039</span>    Kinect autoDrive;<a name="line.39"></a>
<span class="sourceLineNo">040</span>    <a name="line.40"></a>
<span class="sourceLineNo">041</span>    Shooter shooter;<a name="line.41"></a>
<span class="sourceLineNo">042</span>    private double shooterSpeed;<a name="line.42"></a>
<span class="sourceLineNo">043</span>    private Compressor airCompressor;<a name="line.43"></a>
<span class="sourceLineNo">044</span>    <a name="line.44"></a>
<span class="sourceLineNo">045</span>    <a name="line.45"></a>
<span class="sourceLineNo">046</span>    public void robotInit()<a name="line.46"></a>
<span class="sourceLineNo">047</span>    {<a name="line.47"></a>
<span class="sourceLineNo">048</span>        drive = new RobotDrive(fL, fR, rL, rR);<a name="line.48"></a>
<span class="sourceLineNo">049</span>        leftJoystick = new Joystick(2);<a name="line.49"></a>
<span class="sourceLineNo">050</span>        rightJoystick = new Joystick(1);<a name="line.50"></a>
<span class="sourceLineNo">051</span>        gamePad = new Joystick(3);<a name="line.51"></a>
<span class="sourceLineNo">052</span>        <a name="line.52"></a>
<span class="sourceLineNo">053</span>        shooterSpeed = -1;<a name="line.53"></a>
<span class="sourceLineNo">054</span>        shooter = new Shooter(shooterPort, shooterSpeed, launcher);<a name="line.54"></a>
<span class="sourceLineNo">055</span>        autoDrive = new Kinect(1,2);<a name="line.55"></a>
<span class="sourceLineNo">056</span>        <a name="line.56"></a>
<span class="sourceLineNo">057</span>        airCompressor = new Compressor(compressorPort, spikePort);<a name="line.57"></a>
<span class="sourceLineNo">058</span>        <a name="line.58"></a>
<span class="sourceLineNo">059</span>        <a name="line.59"></a>
<span class="sourceLineNo">060</span>        camera = AxisCamera.getInstance("10.17.45.11");<a name="line.60"></a>
<span class="sourceLineNo">061</span>        camera.writeResolution(AxisCamera.ResolutionT.k160x120);<a name="line.61"></a>
<span class="sourceLineNo">062</span>        camera.writeMaxFPS(15);<a name="line.62"></a>
<span class="sourceLineNo">063</span>        camera.writeCompression(20);<a name="line.63"></a>
<span class="sourceLineNo">064</span>        camera.writeColorLevel(50);<a name="line.64"></a>
<span class="sourceLineNo">065</span>        camera.writeBrightness(40);<a name="line.65"></a>
<span class="sourceLineNo">066</span>        collection = new CriteriaCollection();<a name="line.66"></a>
<span class="sourceLineNo">067</span>    }<a name="line.67"></a>
<span class="sourceLineNo">068</span>    <a name="line.68"></a>
<span class="sourceLineNo">069</span>    public void autonomous() <a name="line.69"></a>
<span class="sourceLineNo">070</span>    {<a name="line.70"></a>
<span class="sourceLineNo">071</span>        System.err.println("Entering autonomous:");<a name="line.71"></a>
<span class="sourceLineNo">072</span>         while (true) <a name="line.72"></a>
<span class="sourceLineNo">073</span>         {<a name="line.73"></a>
<span class="sourceLineNo">074</span>            Camera.imageGrab(camera, collection);<a name="line.74"></a>
<span class="sourceLineNo">075</span>            <a name="line.75"></a>
<span class="sourceLineNo">076</span>         }<a name="line.76"></a>
<span class="sourceLineNo">077</span>    }<a name="line.77"></a>
<span class="sourceLineNo">078</span>    <a name="line.78"></a>
<span class="sourceLineNo">079</span>    public void operatorControl() <a name="line.79"></a>
<span class="sourceLineNo">080</span>    {<a name="line.80"></a>
<span class="sourceLineNo">081</span>        System.err.println("Entering teleop:");<a name="line.81"></a>
<span class="sourceLineNo">082</span>        airCompressor.start();<a name="line.82"></a>
<span class="sourceLineNo">083</span>        while(true)<a name="line.83"></a>
<span class="sourceLineNo">084</span>        {<a name="line.84"></a>
<span class="sourceLineNo">085</span>            drive.tankDrive (-leftJoystick.getY(), -rightJoystick.getY());<a name="line.85"></a>
<span class="sourceLineNo">086</span>            <a name="line.86"></a>
<span class="sourceLineNo">087</span>            if(gamePad.getRawButton(1) &amp;&amp; shooterSpeed &lt;=0) //decrease the speed<a name="line.87"></a>
<span class="sourceLineNo">088</span>            {<a name="line.88"></a>
<span class="sourceLineNo">089</span>                <a name="line.89"></a>
<span class="sourceLineNo">090</span>                shooterSpeed = shooterSpeed +0.20;<a name="line.90"></a>
<span class="sourceLineNo">091</span>                shooter.setTargetSpeed(shooterSpeed);<a name="line.91"></a>
<span class="sourceLineNo">092</span>                System.err.println("Decreasing Shooter Speed: " + shooterSpeed);<a name="line.92"></a>
<span class="sourceLineNo">093</span>            }<a name="line.93"></a>
<span class="sourceLineNo">094</span>            if(gamePad.getRawButton(4) &amp;&amp; shooterSpeed &gt;= -1 ) //increse the speed<a name="line.94"></a>
<span class="sourceLineNo">095</span>            {<a name="line.95"></a>
<span class="sourceLineNo">096</span>                <a name="line.96"></a>
<span class="sourceLineNo">097</span>                shooterSpeed = shooterSpeed - 0.20;<a name="line.97"></a>
<span class="sourceLineNo">098</span>                shooter.setTargetSpeed(shooterSpeed);<a name="line.98"></a>
<span class="sourceLineNo">099</span>                System.err.println("Increasing Shooter Speed: " + shooterSpeed);<a name="line.99"></a>
<span class="sourceLineNo">100</span>            }<a name="line.100"></a>
<span class="sourceLineNo">101</span>            <a name="line.101"></a>
<span class="sourceLineNo">102</span>            if(gamePad.getRawButton(6)) // if the fire button is pressed shoot<a name="line.102"></a>
<span class="sourceLineNo">103</span>            {<a name="line.103"></a>
<span class="sourceLineNo">104</span>                shooter.fire();<a name="line.104"></a>
<span class="sourceLineNo">105</span>                System.err.println("Firing Shooter");<a name="line.105"></a>
<span class="sourceLineNo">106</span>            }<a name="line.106"></a>
<span class="sourceLineNo">107</span>            else<a name="line.107"></a>
<span class="sourceLineNo">108</span>            {<a name="line.108"></a>
<span class="sourceLineNo">109</span>                shooter.reset();<a name="line.109"></a>
<span class="sourceLineNo">110</span>            }<a name="line.110"></a>
<span class="sourceLineNo">111</span>        }<a name="line.111"></a>
<span class="sourceLineNo">112</span>        <a name="line.112"></a>
<span class="sourceLineNo">113</span>    }<a name="line.113"></a>
<span class="sourceLineNo">114</span>   <a name="line.114"></a>
<span class="sourceLineNo">115</span>   public void test()<a name="line.115"></a>
<span class="sourceLineNo">116</span>   {<a name="line.116"></a>
<span class="sourceLineNo">117</span>       System.err.println("Entering Test:");<a name="line.117"></a>
<span class="sourceLineNo">118</span>       while(isEnabled())<a name="line.118"></a>
<span class="sourceLineNo">119</span>       {   <a name="line.119"></a>
<span class="sourceLineNo">120</span>           //if(/*autoDrive.getInstance().getSkeleton().GetTrackState() == Skeleton.tTrackState.kTracked &amp;&amp; */autoDrive.getDeadZone()) <a name="line.120"></a>
<span class="sourceLineNo">121</span>            //{<a name="line.121"></a>
<span class="sourceLineNo">122</span>               drive.tankDrive(-autoDrive.getLeftY(), -autoDrive.getRightY());<a name="line.122"></a>
<span class="sourceLineNo">123</span>            <a name="line.123"></a>
<span class="sourceLineNo">124</span>            //}<a name="line.124"></a>
<span class="sourceLineNo">125</span>            //else<a name="line.125"></a>
<span class="sourceLineNo">126</span>            //{<a name="line.126"></a>
<span class="sourceLineNo">127</span>            //    drive.tankDrive(0,0);<a name="line.127"></a>
<span class="sourceLineNo">128</span>            //    Timer.delay(.01);<a name="line.128"></a>
<span class="sourceLineNo">129</span>            //}<a name="line.129"></a>
<span class="sourceLineNo">130</span>       }<a name="line.130"></a>
<span class="sourceLineNo">131</span>   }<a name="line.131"></a>
<span class="sourceLineNo">132</span>}<a name="line.132"></a>




























































</pre>
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